Dynamic DX Manual de usuario
No. 60027, Issue 4. January 1998
TM
DX Servo Lighting Module (SLM)
Installation Manual
Order/Part Number for this Manual : GBK60027 issue 4
Important Notes
1. Read this Manual carefully before installing or operating your DX control system.
2. Due to continuous product improvement Dynamic reserves the right to update this Manual.
This Manual supersedes all previous issues which must not continue to be used.
3. Any attempt to gain access to or in any way abuse the electronic components and
associated assemblies that make up the wheelchair control system renders the
Manufacturer’s Warranty void and the Manufacturer free from liability.
No. 60027, Issue 4. January 1998
Contents
1Introduction ...................................1
2Related Documentation ...........................2
3General Description ..............................3
3.1 General Features ........................................4
3.2 Safety and Protection Features ..............................4
4Specification ..................................6
4.1 Electrical Specifications ...................................6
4.2 Mechanical Specifications .................................8
4.3 Environmental Specifications ...............................9
5Installation ...................................10
5.1 Introduction ...........................................10
5.2 Mounting .............................................10
5.3 SLM Connection with the DX System .......................12
5.3.1 DXBUS Connections ...............................12
5.3.2 DX Module Interconnection Topology ..................13
5.3.3 DXBUS Length and Voltage Drop Restrictions ...........15
5.4 SLM 21 Way Connector .................................18
5.4.1 21 Way Connector Pin Definitions .....................18
5.4.2 21 Way Connector Wires and Terminations ..............18
5.4.3 Power Supply from the DXBUS .......................19
5.4.4 Power Supply form the Battery .......................20
5.5.5 SLM Connection to Lights ...........................21
5.5 SLM Servo Connector ...................................24
5.5.1 Servo Connector Pin Definitions ......................24
5.5.2 Servo Connector Wires and Terminations ...............24
5.5.3 SLM Connection to Servo Devices ....................25
6Operation ....................................26
6.1 SLM Activation ........................................26
No. 60027, Issue 4. January 1998
7Programming .................................27
7.1 Introduction ...........................................27
7.1.1 Adding an SLM to the DX System .....................28
7.2 DX Remote PCD Parameters ..............................29
7.2.1 Lighting Parameters ................................29
7.2.2 Drive Program Parameters ...........................30
7.3 SLM PCD Parameters ...................................32
7.3.1 Steering Profile Parameters ..........................32
7.3.2 Other PCD Parameters ..............................35
7.4 Using the PCD ........................................43
7.5 Calibrating the SLM using the HHP .........................44
7.5.1 Initial Operation ...................................44
7.5.2 Calibrating Parameters ..............................46
8Diagnostics ..................................48
8.1 Troubleshooting ........................................48
8.2 Flash Codes ...........................................48
8.3 PCD Diagnostics .......................................53
8.3.1 Status Report .....................................53
8.3.2 Fault History .....................................54
9Maintenance ..................................57
10 Safety and Misuse Warnings .......................58
11 Warranty ....................................59
12 Sales and Service Information .....................60
No. 60027, Issue 4. January 1998
1 Introduction 1
DX
RemoteSLMDX-PM-(S)
Servo
MotorDrive
Motor1
Drive
Motor2
DXBUSDXBUS
optional
24 V
Battery
Left
Indicator
Lights
Side Lights
Right
Indicator
Lights
1Introduction
The Servo Steering and Lighting Module (SLM) controls the steering and lighting
for servo steered power wheelchairs. It is part of a DX System also comprising a
DX Power Module and a DX Remote as a minimum system.
Example of Minimum DX System with the SLM
The servo wheelchair has one motor for steering, and either one or two motors to
provide the driving power of the wheelchair. Both functions are controlled by the
DX Remote. If two drive motors are used then a dual channel DX Power Module
(DX-PM) is required. If only one drive motor is used then a single channel DX
Power Module (DX-PM-S) is required.
The lighting consists of side lights and turn indicators. The indicators can be flashed
together to provide a hazard warning. The lights are also controlled by the DX
Remote.
The SLM has two standard DXBUS connectors so that it may be connected to the
DX System.
This manual and others listed in Section 2 must be read and understood. For more
information contact Dynamic Controls Ltd or an agent as listed in section 12.
No. 60027, Issue 4. January 1998
2 Related Documentation2
2Related Documentation
A DX based wheelchair control system may comprise between two and sixteen DX
compatiblemodulesdependingontheapplication.EachDXcompatiblemodulehas
its own Installation Manual which describes the installation requirements of that
particular module.
This manual describes the installation of the SLM only and must be read in
conjunction with the :
!Relevant DX Remote Installation Manual
!DX Power Module (PM) Installation Manual
!DX Hand Held Programmer (HHP) Manual
!DX Programming Configuration Diagnostic (PCD) Manual
!Installation Manuals for all other DX modules to be used in your system.
No. 60027, Issue 4. January 1998
3 General Description 3
3General Description
The SLM is designed to enable the DX System to run on a servo steered power
wheelchair, with lights. The wheelchair will have: a servo motor, a position sense
potentiometer, a steering release microswitch, one or two drive motors with integral
park brakes, a 24 V battery supply, and optional lights.
There are two versions of the SLM. The SLM utilises 24 V lights while the SLM-
TÜV utilises 12 V lights and has an internal voltage regulator.
The DX system will comprise of a minimum of a DX Remote, a DX Power Module,
a SLM and may also have up to 13 other DX modules.
The DXBUS is used to control and monitor all DX Modules. The DX Power
Module has two identical DXBUS connectors and is connected in a chain type
arrangement with the SLM. The SLM can be powered from an independent 24 V
power supply, but low power steering requirements can be powered from the
DXBUS 24 V supply. The lighting can also be supplied from: the DXBUS, an
internal or external regulated 12 V supply, or from the 24 V wheelchair battery. See
section 5.4.3 and 5.4.4.
In a servo system the speed and direction data from a DX Remote is passed to the
SLM rather than directly to the DX Power Module. The SLM processes the speed
data and then sends it directly to the DX Power Module. The direction signal is
processed by the SLM and applied to the servo steering motor. A position sense
potentiometer tells the SLM the steering position.
Amicroswitch is attached to the steering clutch so that when the clutch is released
for manual wheelchair manoeuvring, the system is inhibited and will not drive.
When the clutch is restored, the system must be turned off then on again to drive.
The DX System allows up to five preset Drive Programs to be selected, depending
on the type of remote. Each Drive Program contains an associated Steering Program
that defines the maximum steering lock available at different speeds, for safe
driving. The SLM controls the steering lock to conform to the Steering Program,
and also controls the speed output so that the speed can not exceed that allowable
for a particular lock.
The SLM can control a full lighting system of side lights (front and rear) and
indicator lights (left and right). The activation of the lights is via the DX Remote.
The SLM can be used with a two channel (60 A per channel) DX Power Module
(DX-PM) or a single channel 120 A DX Power Module (DX-PM-S). If only one
drive motor is used in the system then the DX-PM-S will be used.
No. 60027, Issue 4. January 1998
3 General Description4
3.1 General Features
The SLM has the following general features:
!Servo output capable of supplying 5 A continuous and 30 A peak to a 24 V
servo actuator.
!Fully DXBUS compatible.
!Two identical DXBUS sockets for Daisy Chain connection to the DX System.
!Powered by a 24 V wheelchair battery via the DXBUS connection, or directly
from the battery for high current applications.
!Fully programmable for optimum driving performance.
!LightingoutputsareTÜVapprovedwhenfittedwithapprovedregulatedpower
supply (SLM-TÜV).
!Electromagnetically compatible:
-not susceptible to high levels of RFI
-emitting low levels of RFI
-protected against high levels of ESD.
!Compact case for mounting under the wheelchair seat.
3.2 Safety and Protection Features
The SLM has the following safety and protection features:
!Motor current limit and current limit timeout set to prevent overheating of
motors.
!Thermal protection to reduce current limit.
!Short circuit protection of all inputs and outputs except between motor and
battery negative while driving.
!Open circuit motor detection when not driving.
!Driving is inhibited if steering clutch is disengaged.
!Over voltage, under voltage and reverse battery protected.
No. 60027, Issue 4. January 1998
3 General Description 5
!Detection of broken steering position feedback potentiometer connections or
short circuit of the potentiometers` terminals.
!Driving inhibit if Steering Module is not connected and responding.
!Compliance with ISO 7176 requirements.
!Controlled power down in event of DXBUS disconnection or communication
failure.
!Hazard lights can be operated by an external switch.
!HazardlightswilloperateautomaticallyifcommunicationwiththeDXRemote
is lost while turned on.
!Indicator flash rate will double if a rear indicator bulb has failed.
!Side lights will come on if battery charger is over-charging the batteries or
duringregenerativebrakingifthebatterycannotabsorbtheregeneratedpower.
No. 60027, Issue 4. January 1998
4 Specifications6
4Specifications
4.1 Electrical Specifications
Power Supply Input
Symbol Parameter Conditions Min Nom Max Units
VBAT Battery voltage 18.0 24.0 32.0 V
IQQuiescent Current No servo load 150 mA
IOOperating Current + servo load 250 mA
IDXBUS DXBUS Current RMS Continuous to entire system 12 A
Servo Motor + / - Output
Symbol Parameter Conditions Min Nom Max Units
SM+ Output Voltage When not in current limit VBAT-1.2V VBAT V
IAV Continuous Over programmable 5 A
Average Current time period
ÎPeak Output Current For up to 5 sec. 30 A
Servo Pot Input / Output
Symbol Parameter Conditions Min Nom Max Units
SP+ Pot Supply + Open circuit 4.5 5.0 5.5 V
Output Voltage
SP- Pot Supply - 0.0 V
Output Voltage
ZSP+ SP+ Output impedance 950 1 K 1050 Ohms
ZSP- SP- Output Impedance 10 Ohms
ZSP Acceptable Pot 4 K 10 K 12 K Ohms
Impedance
No. 60027, Issue 4. January 1998
4 Specifications 7
Steering Clutch Switch
Symbol Parameter Conditions Min Nom Max Units
VLO Low level switch voltage Microswitch closed 00.5 V
VHI High level switch voltage Microswitch open 3.5 5.0 V
Lighting Specification
Symbol Parameter Conditions Min Nom Max Units
Turn Indicator Outputs (each output)
VTIO Output Voltage 13.5 V regulator fitted 13.1 13.5 13.9 V
VTIO Output Voltage 13.5 V regulator not fitted VBAT-1 VBAT-0.1 VBAT V
ITIO Continuous Output 2.3 2.5 A
Current
Sidelight (Head / Tail Light) Output
VSLO Output Voltage 13.5 V regulator fitted 13.1 13.5 13.9 V
VSLO Output Voltage 13.5 V regulator not fitted VBAT-1 VBAT-0.1 VBAT V
ISLO Continuous Output 2.3 2.5 A
13.5 V Regulated Power Supply (SLM TÜV only)
VREG Output voltage Voltage In 18-32V 13.1 13.6 14.0 V
IMAX Maximum output Max. total lighting 7.5 9.0 11.0 A
current load (Note 1)
Note 1 The nominal lighting current corresponds to the sidelights and hazard
flashing. The supply will current limit at 9 A (nominal) to blow fuses. It is not
intended to be used at this level for any extended period of time.
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